CN102058411B - UVB based multi-channel radar life detection instrument - Google Patents

UVB based multi-channel radar life detection instrument Download PDF

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CN102058411B
CN102058411B CN 201010520832 CN201010520832A CN102058411B CN 102058411 B CN102058411 B CN 102058411B CN 201010520832 CN201010520832 CN 201010520832 CN 201010520832 A CN201010520832 A CN 201010520832A CN 102058411 B CN102058411 B CN 102058411B
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signal
module
target
projection
radar
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CN102058411A (en
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王健琪
荆西京
张杨
吕昊
李岩峰
李钊
焦腾
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Fourth Military Medical University FMMU
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Fourth Military Medical University FMMU
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Priority to PCT/CN2011/001022 priority patent/WO2012055148A1/en
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Abstract

The invention discloses a UVB based multi-channel radar life detection instrument for multi-target detection, which comprises a front end of a UWB biologic radar and a computing unit. The front end of the UWB biologic radar comprises a transmitting antenna, three receiving antennas, an impulse oscillator, an electromagnetic pulse generator and a sampling integrator. The transmitting antenna and each receiving antenna form a channel and therefore three channels are formed. The computing unit analyses and processes the collected three radar echo signals and finally extracts life information of multiple human body targets and the two dimensional position information of each target.

Description

A kind of multichannel is based on the UWB radar life-detector
Technical field
The present invention relates to belong to non-contact life parameter Detection Techniques fields, particularly a kind of multichannel of multiple target detection that can be used for is based on the radar life-detector of UWB.
Background technology
Radar life-detector is a kind of fusion Radar Technology and the penetrable nonmetal medium of biomedical engineering technology (brick wall, ruins etc.) noncontact, a kind of emerging special radar of surveying at a distance human life's body (breathing, heart beating, body are moving etc.).The radar life-detector technology is an emerging technology take life entity as the detection of a target, is the very important cutting edge technology field that International Technology circle is generally acknowledged.Due to this technology to measured object without any constraint, need not the connection of contact electrode, sensor, cable etc., and can be every certain distance, penetrate certain medium (as clothes, gauze, brick wall, ruins etc.) human body identified detection, so can be widely used in the fields such as disaster buried person person search and rescue, the monitoring of struggle against terror mid-board and battle reconnaissance, particularly have irreplaceable advantage in fields such as emergency management and rescue, anti-terrorisms.
Target recognition ability and distance, angular resolution are two emphasis of current radar life-detector area research, are also the key issues that this paper need to break through.At present, comparatively ripe radar life-detector system based on the continuous wave radar system can only provide the unmanned result of people, and can't provide the distance of target and angle information etc., and penetration capacity also remains further to be improved.In view of the advantage that super wide range radar has, we have adopted at present advanced person's super wide range technology in the world, and it is combined with the Non-contact Life Detecting technology, and research is visited people's Radar Technology based on the noncontact of super wide range.
Existing radar type human life detection take to the detection and identify of single goal as main, multiobject detection and location are also only limited to moving target.Up to the present, this field not yet solves identification and the two-dimensional localization problem of a plurality of static human body targets.Many quiet target acquisitions identification location technologies are new research direction and the difficult points in international life detection field, and this technology is the key technology of radar life-detector, and it is restricting the extensive use of radar life-detector.The solution of many quiet target acquisition identifications location difficult problem can greatly improve the detection efficient in Non-contact Life Detecting, satisfies the demand of in real work, the multiple target quick detection being located.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, and a kind of multichannel radar life-detector based on UWB that realizes the multi-target two-dimensional Detection location is provided, and solves two-dimensional detection and the orientation problem of a plurality of static human body targets.
The present invention adopts following technical scheme:
a kind of multichannel comprises UWB bioradar front end and computing unit based on the radar life-detector of UWB, and described UWB bioradar front end comprises a transmitting antenna, three reception antennas, pulse oscillator, electromagnetic pulse generator, Sampling Integral device, described transmitting antenna and each described reception antenna form a passage, form altogether three passages, described pulse oscillator produces pulse signal, and this signal triggers the electromagnetic pulse generator and produces burst pulse, and radiate by described transmitting antenna, reflected signal is delivered to the Sampling Integral device through each described reception antenna, the pulse signal that is produced by pulse oscillator produces range gate through delay circuit and range gate generator simultaneously, select to received signal, signal is by the Sampling Integral circuit, be detected through small-signal after accumulation, and amplify via amplifier and wave filter, filtering obtains three road radar echo signals, described three road radar echo signals are sent into computing unit after the sampling of high-speed a/d capture card, by computing unit, three road radar echo signals that collect are carried out analyzing and processing, the final two-dimensional position information of extracting a plurality of human body target life-informations and each target.
Described multichannel UWB radar life-detector, described transmitting antenna and one of them reception antenna close-packed arrays are placed in central authorities, and other two reception antennas are arranged at both sides, form the structure of likeness in form dumbbell.
described multichannel UWB radar life-detector, described computing unit comprises the signal integration module, the signal decomposition reconstructed module, digital filtering module and numerical differentiation module, spatial-frequency analysis module and filtered back projection's locating module, described signal integration module is carried out integration to three road radar echo signals respectively on distance, described signal decomposition reconstructed module will be decomposed respectively through three road radar echo signals after integration, reconstruct, synthetic three road target echo signals and three road distance signals, described digital filtering and numerical differentiation module are carried out respectively digital filtering and numerical differentiation to three road target echo signals, described spatial-frequency analysis module is used for carrying out spatial-frequency analysis according to three road target echo signals after digital filtering and numerical differentiation and three road distance signals, obtain three projection signals of target, described filtered back projection locating module is used for determining the two-dimensional position information of target and forming the displayed map picture according to described three projection signals.
Described multichannel UWB radar life-detector also comprises projection signal's pretreatment module, is used for described three projection signals are gone intermediate value and normalized, and signal after pretreatment is sent to described filtered back projection locating module.
Described multichannel UWB radar life-detector, described filtered back projection locating module comprise one-dimensional Fourier transform module, one dimension weight factor module, one dimension inverse Fourier transform module, the direct back projection module that connects in turn; Described one-dimensional Fourier transform module is used for projection signal after the pretreatment of three passages is done one-dimensional Fourier transform; Described one dimension weight factor module is used for multiply by the one dimension weight factor to described through the projection signal after one-dimensional Fourier transform | ρ |; Described one dimension inverse Fourier transform module is used for multiply by the one dimension weight factor | ρ | after projection signal make inverse Fourier transform; Described direct back projection module is used for the projection signal through inverse Fourier transform is done direct back projection.
Described multichannel UWB radar life-detector, the one dimension weight factor | ρ | finally determine be shown below: g θ(t) be the projection signal after certain passage processing, F 1{ g θ(t) } be projection signal after one dimensional fourier transform.
Above-mentioned arbitrary described multichannel UWB radar life-detector also comprises the hangover cancellation module, is used for obtain the displayed map elimination that looks like to trail through described filtered back projection locating module location.
Described multichannel UWB radar life-detector, described hangover cancellation module adopt the following methods elimination of trailing: the pixel value in the two dimensional surface of viewing area is pre-seted a threshold value, will paint background color lower than the pixel of described threshold value.
Described multichannel UWB radar type life-detection system, the display mode of described displayed map picture are the pseudo-color display mode of two dimensional surface, and while range of a signal and angle, realize that multiobject location and result of detection show.
Innovation of the present invention is:
(1) proposed first to realize that enhancing, human body identification and one-dimensional distance to the faint vital signs of static human body target distinguish, then carried out the new method of multi-target two-dimensional location, for a plurality of static human body target localizations of radar life-detector are opened up new approach.
(2) adopting to change the Time-Frequency Analysis Method of shape--empty frequency analysis (space, frequency) is expected to distinguish for the one-dimensional distance of a plurality of quiet targets in life detection the new method that provides as the echo-signal of main one-dimensional distance differentiation algorithm to the super wide bandwidth radar type life-detection instrument of single channel system acquisition splits, recombinates and relevant processing.
(3) optimal antenna battle array frame mode has been proposed: long dumbbell shape structure.Survey with this frame mode, can make detection system with minimum antenna, the simplest structure obtains best multiple target locating effect.
Description of drawings
Fig. 1 is the super wide bandwidth radar type life-detection instrument of single channel system principle diagram;
Fig. 2 is the super wide bandwidth radar type life-detection instrument of multichannel computing unit structural representation;
Fig. 3 arranges schematic diagram for super wide range radar parameter;
Fig. 4 is target echo signal and distance signal;
Fig. 5 is hardware filtering the electric circuit constitute block diagram;
Fig. 6 is that the signal waveform before and after differential algorithm compares (30 number of seconds certificate);
Fig. 7 is the result that the crest method of discrimination is differentiated the Bi-objective data
Fig. 8 is that angle is determined the algorithm schematic diagram;
Fig. 9 is the electromagnetic wave propagation path of bistatic antenna form;
Figure 10 is the antenna echo signal of transceiver and bistatic antenna form;
Figure 11 is that the target two-dimensional position of multi-channel system is determined schematic diagram;
Figure 12 is filtered back projection's method;
Figure 13 is the positioning result figure of (threshold value 150) after the elimination conditions of streaking;
Figure 14 is the positioning result figure of (threshold value 230) after the elimination conditions of streaking;
Figure 15 is single goal positioning result figure;
Figure 16 is that Bi-objective is located figure as a result;
Figure 17 is three target localizations figure as a result;
Figure 18 is that Bi-objective is located figure (hangover is eliminated) as a result;
Figure 19 is three target localizations figure (hangover is eliminated) as a result.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment 1
The present embodiment a certain passage in the multichannel is the example explanation, and Fig. 1 is the super wide bandwidth radar type life-detection instrument of single channel system principle diagram.At first pulse oscillator produces pulse signal, and this signal triggers the electromagnetic pulse generator and produces burst pulse, and radiate by transmitting antenna.Reflected signal is delivered to the Sampling Integral device through reception antenna, the signal that is produced by pulse oscillator produces range gate through delay circuit, select to received signal, signal is by the Sampling Integral circuit, be detected through small-signal after the accumulation of thousands of pulses, and carry out amplification filtering, then send into computing unit after the high-speed collection card sampling, by computing unit, the signal that collects is carried out analyzing and processing and identification, calculate at last target range.
As shown in Figure 1, be radar front end in the dotted line frame, mid frequency and the bandwidth of system are all 500MHz, and the wave beam angle of coverage is 60.Computing unit command range door generator obtains the echo-signal of different distance section in search coverage.
The controllable parameter of computer is: initial distance, investigative range, sample frequency and antenna gain.As shown in Figure 3, after antenna penetrated brick wall, search coverage was one fan-shaped, by initial distance and investigative range are set, can realize the scanning probe of the sector region of dash area in figure, if echo-signal shows target information by analysis afterwards, just can judge in this sector region has target.By the initial distance of continuous adjustment, can realize the tomoscan in certain area.And adjust investigative range (reception of antenna is counted constant), and can adjust the sensitivity of detection system, change the target range resolving power of system, realize the coarse scan in certain area and carefully sweep.
For example, initial distance is set to 6m (40 nanosecond), investigative range is set to 3m (20 nanosecond), and the echo-signal of native system is the sequence that 2048 points form, and the effective search coverage of so current radar is antenna dead ahead 6m~9m, angle is 60 sector region, echo-signal only reflects the information of vertically upper 3m, and the scope of 3m on average is divided into 2048 parts, i.e. each sampling obtains 2048 data, we are referred to as 2048 points, and the distance of n point representative is:
s = 6 + n 2048 × 3 ( m ) . . . . . . ( 1 )
In formula (1): n is an ordinal number.
According to nyquist sampling theorem, sample frequency must be greater than the twice of signal highest frequency, and we set the A/D sample frequency is 64Hz.
Fig. 2 is the super wide bandwidth radar type life-detection instrument of multichannel of the present invention computing unit structural representation, described computing unit comprises the signal integration module, the signal decomposition reconstructed module, digital filtering module and numerical differentiation module, the spatial-frequency analysis module, described signal integration module is carried out integration to signal on distance, described signal decomposition reconstructed module is broken up signal and is decomposed, reconstruct, synthetic target echo signal and distance signal, described digital filtering and numerical differentiation module are carried out digital filtering and numerical differentiation to target echo signal, described spatial-frequency analysis module is used for carrying out spatial-frequency analysis according to the target echo signal after digital filtering and numerical differentiation and distance signal, obtain the target one-dimensional distance.
Embodiment 2
The passage of the present embodiment in the multichannel describes quiet Target Weak Signal Enhancement Method as example,
Realize the identification of static human body target, at first should the faint life signal of static human body be strengthened.In the present embodiment, for the characteristics of UWB radar echo signal, adopt weak biological medical signals processing method to process the enhancing with useful signal through the signal after high-speed sampling, improve signal to noise ratio, realize the basic identification to human body target.
Between adopting at 8,4 dot product point-scores carry out integration to signal on distance; Again signal is broken up decompose, reconstruct, synthetic target echo signal and distance signal; Target echo signal is carried out digital filtering and numerical differentiation, to realize the enhancing of weak useful signal.
2.1 the integration of signal
The high-speed collection card sample rate that adopts in the present embodiment is 64Hz, and the data volume after the AD sampling is large, is unfavorable for real-time operation; The data volume minimizing can cause again echo-signal to lack enough range informations too much.So choose between 84 integration methods signal after sampling carried out subsection integral in the situation that guarantee to have enough range resolution the present embodiment.
Between 8,4 integration methods are averaged every 8 additions of data exactly, every twice integration interval 4 point (0~7,4~11,8~15, analogize the back), make the rear signal data amount of sampling become 1/4th of original signal through the upper integration of distance, in the situation that do not lose the sequence length that signal characteristic has reduced signal, reduce operand, accelerated arithmetic speed.
2.2 signal is decomposed and reconstituted
With signal after integration by time and territory, two, space decompose, reconstruct, the synthetic distance signal y (d) that contains the target echo signal x (t) of temporal information and contain spatial information, wherein t is time variable, d is apart from variable.Target echo signal reflection be the time dependent situation of signal amplitude on respective distances point, the abscissa of target echo signal is the time; Distance signal is the sequence that the amplitude of the each point on the synchronization different distance forms, and the abscissa of distance signal is distance.Fig. 4 is random road target echo signal (1600 points, 25 seconds) and distance signal (60ns, the 9m) oscillogram of selecting.
Target echo signal has improved signal to noise ratio, more is conducive to the extraction of vital sign signals, and distance signal has guaranteed again suitable range resolution when greatly reducing operand.
2.3 the selection of wave filter
2.3.1 hardware filtering device
In the present embodiment with before hardware filtering circuit access high-speed AD acquisition card, filter bandwidht is adjustable, in the early stage preliminary experiment, successively having tested bandwidth is several wave filter of 0.08-10Hz, 0.08-100Hz, 0.08-1000Hz, 0.08-2000Hz, 0.08-3000Hz, 0.08-4000Hz, 0.08-5000Hz, pass through Contrast on effect, finally selected the passband of 0.08-5000Hz as the hardware filtering circuit, gain is divided into two grades: gain is 1 o'clock, amplification is 1 times, gain is 2 o'clock, and amplification is 2 times.
The single channel UWB system's random acquisition data each 16 groups (driftlessness, single goal data) that adopt respectively the single channel UWB system that does not add the hardware filter circuit, the single channel UWB system that adds hardware filter circuit (gain is 1) and add hardware filter circuit (gain is 2) add up to totally 48 groups of data.The algorithm that these 48 groups of data adopt respectively computing unit to comprise is processed and differentiated, the statistics recognition correct rate, statistical result is as shown in table 1 below.
Recognition correct rate situation (48 groups of data) during table 1 increase and decrease hardware filtering device
Being that the recognition correct rate of 1 hardware filtering circuit is the highest using gain, is 62%.
By relatively finding, the Effect on Detecting of the UWB system that adopts that gain is 1, passband is 0.08-5000Hz hardware filtering circuit is best.
2.3.2 digital filter
Because phase information in faint vital sign parameter signals is extremely important to quiet target detection, and quiet target recognition and one dimension are distinguished technology having relatively high expectations to algorithm stability and follow-up Digital Signal Processing, so adopt in the present embodiment finite impulse response (FIR) (FIR) wave filter to remove High-frequency Interference, extract the useful signals such as breathing.The system function of FIR wave filter is:
H ( z ) = Σ n = 0 N - 1 h ( n ) z - n , 0 ≤ n ≤ N - 1 . . . . . . ( 2 )
Difference equation is:
y ( n ) = Σ k = 0 N - 1 b k x ( n - k ) . . . . . . ( 3 )
The selection of filter order has been directly connected to its amplitude-frequency characteristic, and exponent number is higher, and amplitude-frequency characteristic is better, and filter effect is better.Also bring some negative effects but unrestrictedly increase exponent number, as increased system's operand, extended the time delay of filtering output etc.Comprehensive above two aspects considerations, in the situation that system's operational capability allows, we select 160 rank FIR wave filter to test.
Adopt the window function method in the design of wave filter, by contrasting the amplitude-frequency characteristic of several window function low pass filters, finally adopted the hamming window.
Normal condition servant's breathing rate is 15~20 times per minute, considers that its frequency of abnormal condition generally can not surpass 0.4Hz yet.So the digital filter that we adopt, its cut-off frequency is this index of main reference 0.4Hz also, and the low pass filter that namely is not less than 0.4Hz with cut-off frequency carries out filtering to target echo signal, with the performance of each wave filter relatively.We test the lowpass digital filter that cut-off frequency is respectively 0.4Hz, 0.5Hz, 0.6Hz, 0.7Hz, 0.8Hz in this article.
Choose at random investigative range (window when being radar) and be each 48 groups of the data of 20 nanoseconds (3m) and 60 nanoseconds (9m), amount to 96 groups, these signals are signal (data that contain driftlessness, single goal) after the sampling of single channel UWB system, and the algorithm that these 96 groups of the data computing units comprise is differentiated.In the contrast experiment, only change filter cutoff frequency, other each software and hardware parameter constants, the accuracy of statistic discriminance result, it is as shown in table 2 that it differentiates accuracy.
Table 2 changes filter cutoff frequency to differentiating the impact of accuracy
Figure BSA00000319664700101
According to above experimental result, by comprehensive comparison, the hamming window Finite Impulse Response filter of finally choosing 160 rank, cut-off frequency and be 0.5Hz comes target echo signal filtering High-frequency Interference, keeps the vital sign signals such as breathing.
2.4 the selection of differentiator
Due to the existence of DC component and baseline drift phenomenon, often comprise the very large extremely low frequency composition of energy in target echo signal, make signal substantial deviation baseline, faint life signal identification is had a huge impact.The present embodiment proposes to adopt the method for numerical differentiation to come filtering DC component in time and extremely low frequency to disturb, and useful signal is fluctuateed up and down, to reach the purpose that strengthens the vital sign signals such as breathing around zero base line.The computational process of differentiator is as shown in formula (4):
y ( n ) = x ( n ) - Σ k = n - m n - 1 x ( k ) m . . . . . . ( 4 )
In formula: y is output signal, and x is input signal, and m is exponent number, and n is the sequence number of point.
Choose at random investigative range (window during radar) and be each 48 groups of the data of 20 nanoseconds (3m) and 60 nanoseconds (9m), amount to 96 groups, these signals are signal (data that contain driftlessness, single goal) after the sampling of single channel UWB system, adopt respectively the digital differentiator on 20 rank, 40 rank, 60 rank, 80 rank, 100 rank, 120 rank, 140 rank, 160 rank, 180 rank to carry out identifying after differential is processed and distance calculating to these data, it is as shown in table 3 that it differentiates accuracy:
Table 3 changes the differentiator exponent number to differentiating the impact of accuracy
Figure BSA00000319664700103
Figure BSA00000319664700111
Can find out, the differentiation accuracy of the signal after 60 exponent number word differentiators are processed is the highest, and total accuracy of its 96 groups of data is 60.78%.By comparing, the present embodiment has selected 60 exponent number word differentiators to remove DC component and extremely low frequency disturb, the vital signs of enhancing signal.
From relatively can finding out of Fig. 6, through after target echo signal is carried out 60 rank differential in time, signal has been got back near baseline and has tightly been fluctuateed up and down around baseline, and DC component and extremely low frequency composition have obtained inhibition, and useful signal has obtained enhancing.
Embodiment 3
The a certain passage of the present embodiment in the multichannel describes one-dimensional distance differentiating method and spatial-frequency analysis method as example:
After completing quiet Target Weak Signal enhancing, will distinguish on distance human body target.Because distance signal is the ultra-low frequency signal of reflection target range information, so contain spatial information and the characteristics such as non-stationary for distance signal, the present embodiment has built the joint distribution function of space, frequency, adopt spatial frequency conjoint analysis method (changing the time frequency analysis of shape) the signal analysis of adjusting the distance, describe energy density and the intensity of signal on different distance, frequency, thereby provide the range information of each human body target.
What time frequency analysis represented is the situation of change of signal spectrum on time shaft, after becoming time variable apart from variable, what the time frequency analysis result represented is exactly frequency spectrum situation of change spatially, so utilize these characteristics of time frequency analysis, the target on different distance is carried out spectrum analysis, and then the acquisition human body is differentiated result and target one-dimensional distance information, so just formed space, application form that this time frequency analysis of frequency conjoint analysis is new, its essence remains time frequency analysis.
In the present embodiment, time variable in time frequency analysis is become space (distance) variable, build space, frequency Copula, can utilize simultaneously space, frequency information to describe the energy density of input signal, make this method possess " location " function of space, frequency, thereby the method for good non-stationary signal Frequency Estimation in a certain distance range is provided for us.
Time-frequency conversion comprises single linear conversion such as short time discrete Fourier transform, bilinear transformation such as Wigner-Ville distribution, wavelet transformation etc.Spatial frequency transforms in the present embodiment is the time variable in time frequency analysis to be replaced to space (distance) variable and next, and its range resolution is to determine in advance, does not need to change by changing window width; And object of experiment is static human body, its breath signal is comparatively stable in long-time, belong to local stationary and the large non-stationary signal of length, be fit to analyze with short time discrete Fourier transform for this class signal, carry out spatial-frequency analysis so chosen in the present embodiment the short time discrete Fourier transform of single linear conversion, and result has been carried out analysis and comparison.
In the present embodiment with the time window be that distance signal evenly is divided into 100 sections on distance after the differential of 60ns (corresponding 9m investigative range, initial distance are 1ns), corresponding range resolution is about 0.09m.For removing the impact of antenna direct wave, front 12 of distance signal is abandoned, do not participate in segmentation, rear 500 are divided into 100 sections, then the amplitude of 5 on each section is done an addition in section, obtain and as the value of this section, thereby form the new distance signal that only has 100 numerical value to form, what these 100 numerical value were corresponding is to finish since 12 * 9/512=0.21m to 9m, the target echo signal of the point that equally distributed each distance is upper.
After segmentation, positioning result refresh rate needed according to actual detection takes out all new distance signals in this time period every 10 seconds, amounts to 64 * 10=640 new distance signal (64 is sample rate); Each distance signal is split into point (100 point), more in chronological sequence order is with the sequence restructuring with each point, formation contains the fresh target echo-signal (amounting to 100 groups of target echo signals) of temporal information; Each new target echo signal is joined end to end by distance antenna order from the close-by examples to those far off, the input signal of Special composition frequency analysis.
Synthetic input signal is made spatial-frequency analysis, namely make short time discrete Fourier transform, wherein window width is corresponding to the length of fresh target echo-signal, be decided to be 64 * 10=640, the each sliding distance of window is corresponding to the range resolution of distance signal, according to the count principle that is not less than window width and differentiate result to select Fourier transform to count to the demand of frequency resolution be 1024 points of conversion.After determining above parameter, input signal is carried out short time discrete Fourier transform, and draw figure as a result.The short time discrete Fourier transform formula is suc as formula shown in (5):
STFT(t,w)=∫S(τ)γ(τ-t)e -jwτdτ ......(5)
Wherein S (τ) is input signal, and γ (t) is window function.
In the selection of window function length, in order to improve the temporal resolution of short time discrete Fourier transform, usually require the window function time width of selection short as far as possible.On the other hand, short time discrete Fourier transform will be expected high frequency resolution, require the window function time width of selection long as far as possible, so the raising of temporal resolution contradicts with the raising of frequency resolution.In reality, the width of the window function γ (t) of selection should adapt with the steady length of the local of signal.In this experiment, the eupnea frequency of detected object human body is 15-20 time per minute, be that 3-4 completes the respiration motion second, for impact and the assurance frequency resolution that reduces human body respiration accidentalia, individual variation, the time width of the window function that we choose is 10 seconds, and the window width that corresponds in spatial-frequency analysis is 640.
Embodiment 4
The a certain passage of the present embodiment in the multichannel describes as the setting of example to crest method of discrimination and threshold value:
The result of space, frequency analysis is one 3 dimension (space, frequency, energy) corresponding relation, and two coordinate axess are respectively distance and frequency, and energy intensity is to come corresponding by the depth of color.By suitable mode and suitable human life feature decision threshold is set, can realize that namely single channel is distinguished the distance of a plurality of quiet targets and distance is calculated.If on a certain distance, signal energy is large, the spectrum peak is concentrated, the signal energy on the neighbor distance, and meet decision threshold, thinking has the static human body target (one-dimensional distance is determined) on the respective distance in this reception antenna investigative range; If have the signal of macro-energy to occur on a plurality of distances, and meet threshold value, thinking has the static human body target to exist on a plurality of distances, records the one-dimensional distance value of these targets by algorithm, is each target to the distance of antenna.
It is as follows that multiobject differentiation and distance are calculated concrete steps:
Find out energy value maximum in 100 sections 15 sections, and find out all energy crests in these 15 sections, be designated as respectively E by the energy size Peak1, E Peak2, E Peak3... crest is such regulation: namely the energy value of this section is greater than adjacent two sections energy values, and this section is crest.After finding out the energy crest, record the section sequence number of crest place section, be used for the subsequent calculations target range.
In calculating 100 sections, the average energy value of 10 sections of energy value minimum is designated as: E Mean, utilize crest energy and the average energy value of minimum 10 sections to make comparisons to determine the number of target.Compare threshold is as follows:
(1) if the ENERGY E of energy crest 1 Peak1Minimum average B configuration energy value E greater than 4 times Mean, i.e. E Peak1>4E Mean, think that crest 1 position has target to exist, the distance of target is calculated by the sequence number of crest 1;
(2) if the ENERGY E of energy crest 2 Peak2Minimum average B configuration energy value E greater than 3 times Mean, i.e. E Peak2>3E Mean, think that crest 2 positions have target to exist, the distance of target is calculated by the sequence number of crest 2;
(3) if the ENERGY E of energy crest 3 Peak2Minimum average B configuration energy value E greater than 2.5 times Mean, i.e. E Peak3>2.5E Mean, think that crest 3 positions have target to exist, the distance of target is calculated by the sequence number of crest 3.
Fig. 7 be according to the crest method of discrimination and decide the result of the differentiation that threshold value carries out Bi-objective data.
Can find out, there are two crests in 100 segment signals, lay respectively at the 54th section and the 82nd section, the energy of these two crests through with separately threshold ratio, draw place, two crest present positions and be target, by calculating, the distance of two targets is respectively: (54-1) * 0.09+0.21=4.98m and (82-1) * 0.09+0.21=7.50m.
So far, we have completed each passage to the identification of a plurality of static targets on different distance and the calculating of each target range, multiobject one-dimensional distance information has namely been arranged, on this basis, the subsequent treatment of again the one dimension result of three passages being correlated with forms the projection signal of each passage on two dimensional surface.
Embodiment 5
5.1 the angle of transceiver antenna form is determined
Range information has been arranged, realize two-dimensional localization, also needed angle information, for the antenna form of transceiver, we adopt the cosine law just can solve the problem that angle is determined.Its algorithm schematic diagram as shown in Figure 8.
Target is to distance A and target being drawn by distance differentiation algorithm apart from B to antenna 2 of antenna 1, spacing C between antenna 1 and antenna 2 is known, we can solve the angular relationship between target and antenna 1 according to formula (6), be angle [alpha], in the recycling polar coordinate, the combination of distance and angle namely can draw the two-dimensional position information of target.
2AC cosα=A 2+C 2-B 2 ......(6)
5.2 the angle of bistatic antenna form is determined
In the multi-channel system of reality, transmitting antenna and reception antenna separate, as shown in Figure 9.Suppose that transmitting antenna Tx is D to the distance between reception antenna Rx, the Tx range-to-go is S 0(t), the Rx range-to-go is S 1(t), the electromagnetic wave that sends of transmitting antenna Tx needs time D/c (c is the aerial spread speed of electromagnetic wave) could arrive reception antenna Rx, just have one section direct wave like this in the echo-signal that Rx receives, the waveform of this section is a straight line, it does not comprise any target information, this segment distance should be taken into account when signal processing.During the antenna form target acquisition of actual bistatic, the electromagnetic wave propagation path as shown in Figure 9.
Figure 10 is the contrast of the reception antenna echo-signal of transceiver antenna form and bistatic antenna form, wherein figure (a) is the echo-signal of transceiver antenna form, figure (b) is the echo-signal of bistatic antenna form, and reception antenna is according to transmitting antenna 1.5m.The signal location setting of two paths of signals is 1ns, the time window setting be 20ns.Can find out: the transceiver antenna form is very near because of reception, transmitting antenna distance, so all include the reflective information of medium when its echo-signal is whole in window; And the bistatic antenna form is because reception and transmitting antenna have left a segment distance, so be baseline direct wave stably the last period during its echo-signal in window, the electromagnetic wave that direct wave length is sent by transmitting antenna directly arrives the required Time dependent of reception antenna, do not comprise the reflective information of object in any detecting area, the second half section of echo-signal just begins to occur comprising the waveform of target reflection information.
Target two-dimensional position for the multi-channel system of bistatic antenna form is determined as shown in figure 11.
This is the location schematic diagram of a simple single goal, and it is received antenna array (comprising two reception antenna Rx1 and Rx2) by a transmitting antenna Tx and a winding and realizes two-dimensional localization.The position of target is to determining by following electromagnetic wave stroke is calculated, that is: the electromagnetic wave that sends of transmitting antenna arrives target, after being returned by target reflection again, then arrive each reception antenna the stroke of process.The Tx range-to-go is S 0(t), target is S1 (t) to the distance of Rx1, and target is S to the distance of Rx2 2(t).Electromagnetic wave emits the arrival target from Tx, then returns to arrive Rx1 and the Rx2 time (when walking) used is respectively τ from target reflection 1=(S 0(t)+S 1(t))/c, τ 2=(S 0(t)+S 2(t))/c.By τ 1And τ 2Can determine two ellipses, oval focus is the position of transmitting antenna Tx and corresponding reception antenna Rx1 and Rx2.Like this, the position of target can be determined by the intersection of two ellipses, and oval computational process sees that formula (7) is to formula (10).
( x ( t ) + D 2 a 1 ( t ) ) 2 + ( y ( t ) b 1 ( t ) ) 2 = 1 . . . . . . ( 7 )
( x ( t ) - D 2 a 2 ( t ) ) 2 + ( y ( t ) b 2 ( t ) ) 2 = 1 . . . . . . ( 8 )
Here 2a iBe the major axis of ellipse, namely electromagnetic wave is reflected back stroke that reception antenna is walked again from the transmitting antenna to the target, and it is by time τ iCalculate, its computational process is as shown in formula (9), and wherein i gets 1,2, is the numbering of reception antenna.
2a i(t)=S 0(t)+S i(t)=cτ i(t) ......(9)
Oval minor axis 2b iCan calculate by formula (10).
( D 2 ) 2 + b i 2 ( t ) = a i 2 ( t ) . . . . . . ( 10 )
The precision of this algorithm depends on the distance between antenna array, the size dimension of target and the time delay τ that is gone out by the antenna echo calculated signals iPrecision, this also requires us to use high-precision UWB radar cell, the theoretical full accuracy of the super wide range of the multichannel that uses in the present embodiment system is 4ns/2048 ≈ 2ps (psec), be converted into range accuracy be about 2ps * c=0.03cm (centimetre), satisfy required precision.
5.3 antenna array frame mode
Before experiment is carried out, following priori has been arranged:
(1) the super wide range of multichannel system can not work by two or more transmitting antennas simultaneously, otherwise can interfere with each other, so only need adopt a transmitting antenna when design.
(2) single channel can only be determined multiobject distance, and can not provide the angle information of target, thus need at least the just two-dimensional localization of possibility realize target of plural passage, so will select to position more than the mode of two reception antennas in experiment.
(3) under the identical condition of locating effect, should the minimum a kind of mode of choice for use number of antennas, so can reduce volume, the weight of system, improved portability, apply after convenient, the minimizing of antenna simultaneously also greatly reduces the complexity of systematic sampling, computing etc., has improved operation efficiency.
(4) because we want two-dimensional localization rather than the three-dimensional imaging of realize target, so only need to selected antenna as for getting final product on same level, only need antenna is placed on the same level line for concrete laboratory test platform.
Based on above 4 points, carried out following experiment:
5.3.1 choosing of reception antenna number
Two passages can be realized the location of how quiet target, but wherein may contain pseudo-shadow, and at this moment the projection signal by third channel verifies and eliminate pseudo-shadow, and namely the crossing point of the elliptic arc of the projection signal of three passages is only real place, target location.Also proved this point in actual detection experiment, so finally selected the form of a transmitting antenna, three reception antennas on antenna amount.
5.3.2 determining of position of transmitting antenna
Situation high according to the station of normal adult and sitting height is added up, in order to ensure all reaching best Effect on Detecting to target stance and sitting posture, the antenna height of antenna is decided to be 1.2m, and namely a transmitting antenna and three reception antennas all are on the horizontal line of height 1.2m.
5.3.3 determining of reception antenna position
After having determined the position of transmitting antenna, adjacent transmitting antenna has been placed a reception antenna, has so just formed a single channel system that is similar to the transceiver form, and this passage is mainly used to target is carried out the upper differentiation of distance.In order to guarantee the symmetry of search coverage angular resolution, two remaining reception antennas centered by transmitting antenna, the symmetrical both sides that are arranged on high 1.2m horizontal line, the range transmission antenna is respectively 0.5m, 1.0m and 1.5m.Found through experiments, distance is nearer, and the angular resolution of target is lower, and distance is far away, and angular resolution is higher, that is: there is approximate inverse relation in the distance of both sides reception antenna and central transmitting antenna with angle on target resolution.When distance is infinitely small when the adjacent transmitting antenna, the effect of three passages is the same, and this moment, three passages all only can carry out distance differentiation to multiple target, can say and have no angular resolution.According to above experiment situation, in order to guarantee maximum angular resolution, finally selected an adjacent transmitting antenna of reception antenna, and two other reception antenna range transmission antenna 1.5m, and be distributed in symmetrically transmitting antenna both sides.
5.3.4 brief summary
One three receipts on antenna amount, for realizing the minimum antenna number of multiple target location, wherein a pair of dual-mode antenna close-packed arrays is placed in central authorities, and two other reception antenna sets up the frame mode of the likeness in form dumbbell that is placed in both sides.We also find by experiment, and the both sides reception antenna becomes the relation of approximate reverse ratio, i.e. L ∝ 1/ θ with the distance L of central transmitting antenna with angular resolution θ.
Embodiment 6
6.1 filtered back projection's algorithm for reconstructing
The present embodiment filtered back projection method for reconstructing adopts be first revise, the way of rear back projection, can obtain comparatively accurate original density function, namely each passage is first revised through the data for projection that calculates, and then back projection is on each pixel on perspective plane, thereby recovers original density function.
At first projection signal is gone intermediate value, normalization correction:
Projection signal's (100 point) to each passage finds out its median, will be less than the value zero setting of median, and all the other are constant.Consistent to the contribute energy power of final two-dimensional localization figure for the projection signal that makes three passages, by formula (11) are to removing the signal normalization after intermediate value:
r ( t ) = 2 × e ( t ) - min 0 ≤ t ≤ T [ e ( t ) ] max 0 ≤ t ≤ T [ e ( t ) ] - min 0 ≤ t ≤ T [ e ( t ) ] - 1 . . . . . . ( 11 )
Here the time variable that refers to of t, T is the length of projection signal, and e is input, and r is output.
Correction has been got well after the projection signal, just the projection signal of three passages can be carried out filtered back projection toward search coverage.
The basic thought of this filter back-projection algorithm is: after extracting projection function (one dimension function) in the echo-signal of a certain reception antenna, this One Dimensional Projection function is done Filtering Processing, obtain a projection function through revising, and then this revised projection function is made backprojection operation, draw required density function.The process of filtered back projection's method reconstructed image as shown in figure 12.
The step of filtered back projection's method reconstructed image is as follows:
(1) projection function of certain reception antenna is done one-dimensional Fourier transform;
(2) transformation results of (1) is multiplied by the one dimension weight factor;
(3) weighted results of (2) is made the one dimension inverse Fourier transform;
(4) the corrected projection function that draws in (3) is done direct back projection;
(5) repeat the process of (1) to (4), until complete the back projection of each passage projection signal;
According to the scope of respiratory frequency, in conjunction with the contrast of great many of experiments effect, weight factor | ρ | final determine suc as formula shown in (12).
Figure BSA00000319664700192
Compare with the method for reconstructing of first back projection, rear correction, filtered back projection's method only need be done one dimensional fourier transform, thereby shorten the time of image reconstruction when image reconstruction.
6.2 conditions of streaking and solution
Can find out, the target location draws by three elliptic arcs are crossing, can have conditions of streaking to each target like this.This solution of problem is by the pixel value setting threshold to two dimensional surface, will paint lower than the pixel of threshold value that background color solves.Due to the pixel value 0~255 of pcolor corresponding cool colour (indigo plant)~warm colour (red) respectively, here we decide threshold value be 150, namely the color more than light green color shows on plane graph, and threshold value is lower than the whole display background colors of 150 pixel.The result of doing like this is exactly to have removed the hangover part of target, has more given prominence to the position of target.Remove the later network for location of hangover as shown in figure 13 by setting threshold.
Find in experiment, after threshold value was further raise, as threshold value is brought up to 230, the network for location target of single goal was more outstanding, and effect is more obvious, threshold value be the later network for location of 230 removal hangover as shown in figure 14.
Can find out that threshold value brings up to after 230, the position of single goal is more outstanding, and conditions of streaking further is eliminated, and positioning accuracy further improves.But, the raising of threshold value neither be unconfined, threshold value is carried too high after, in the time of can causing multiple target detection, failing to judge of the target that energy is less, through the groping of many experiments, balance is eliminated as possible conditions of streaking and is not caused multiple target this two principles of failing to judge as far as possible, and the threshold value of finally selecting is 150.
6.3 filtered back projection's algorithm for reconstructing positioning result
Multichannel based on the UWB radar life-detector on, adopt filtered back projection's method to carry out the detection and identify positioning experiment actual through walls of several situations such as driftlessness, single goal, Bi-objective, three targets (being the target that stands still), experiment is to carry out at laboratory, orientation according to laboratory, survey the left side that shows result and point to south, the north is pointed on the right side.That Figure 15, Figure 16, Figure 17 are respectively that the employing filtered back projection method of actual measurement rebuilds is single, double, three quiet target localizations figure as a result.This three width figure is the imaging results of trailing and eliminating, and setting is: signal location 20ns, the time window 20ns, by calculating, its investigative range is 3-6m.Wherein Figure 15 is the positioning result of single goal, and the physical location of target is the 4m center; Figure 16 is the positioning result of Bi-objective, and two target physical locations are respectively 4m 30 degree by north and 5m center, can find out that target location and the target actual position of the warm colour zone demonstration in positioning result is substantially identical; Figure 17 is the positioning result of three targets, and three target physical locations are respectively 3m 30 degree by north, 4m 30 degree by north and 5.5m and hit exactly, and same warm colour zone is also substantially identical with the target actual position.
Can find out from top positioning results single, double, three targets, filtered back projection's algorithm for reconstructing can comparatively accurately be identified and locate three human body targets that stand still with interior (containing three) under state through walls, thereby has proved that filter back-projection algorithm can be applied to the Detection location of a plurality of static human body targets of Multichannel radar formula life-detection instrument.
Figure 18, Figure 19 are respectively Bi-objective after the elimination hangover of actual measurement, three target localizations figure as a result.Parameter is set to: signal location 15ns, the time window 20ns, its investigative range is 2-5m.Wherein Figure 18 is the positioning result figure of Bi-objective, and the physical location of two targets is respectively 4m 20 degree by north and 5m hits exactly; Figure 19 is the positioning result figure of three targets, the physical location of three targets be respectively 3m by north 30 the degree, 4m just in and 5m by north 20 the degree.Can find out eliminate by hangover after, the red area in positioning result is more outstanding, target is more obvious, the resolution of target is improved to a certain extent.
6.4 filtered back projection's algorithm for reconstructing efficiency evaluation
The filter back-projection algorithm efficiency evaluation is completed on based on UWB radar life-detector test platform at multichannel, and the frame mode of antenna array has been selected long dumbbell shape.The major parameter of system is set to: signal location 15ns, the time window 20ns.All experimental datas all penetrate the 30cm brick wall and gather, and experimental subject is to choose at random from 16 volunteers according to the needs of target number, and when all experimental datas gather, target is the state of standing still, i.e. static human body target acquisition experiment.The distribution situation of target provides as follows: i.e. the fore-and-aft distance of any two targets interval 0.5m at least, lateral angles is interval 20 degree at least.
Driftlessness data through walls have gathered 17 groups altogether.According to above-mentioned mode classification, the result of adopting data is added up, because all data are the driftlessness data, so there is not the situation of failing to judge and misjudging.Statistical result is as shown in table 4.
Table 4 is worn the correct localization situation of 30cm brick wall driftlessness data
Figure BSA00000319664700211
Figure BSA00000319664700221
Single goal data through walls gather 48 groups altogether, and wherein, target is positioned at 2m 30 degree by north, 2m center, 2m 30 degree by north; 3m 30 degree by north, 3m hit exactly, 3m 30 degree by north; 4m 20 degree by north, 4m hit exactly, 4m 20 degree by north; Respectively 4 groups of these data such as 5m 20 degree by north, 5m center, 5m 20 degree by north, totally 48 groups of data.According to above-mentioned mode classification, the result of adopting data is added up equally, statistical result is as shown in table 5.
The correct localization situation of single goal data when table 5 is worn the 30cm brick wall
Figure BSA00000319664700222
Bi-objective data in data through walls have gathered 60 groups altogether.After two target locations are randomly dispersed in wall on the basis of satisfying the described condition of preamble, in the investigative range of 2-5m, the distribution form that makes up with the different distance different angles stands still.According to above-mentioned mode classification, the result of adopting data is added up equally, statistical result is as shown in table 6.
Table 6 is worn the correct localization situation of 30cm brick wall Bi-objective data
Figure BSA00000319664700223
Three target datas in data through walls have gathered 85 groups altogether.After the position of three targets is randomly dispersed in wall on the basis of satisfying the described condition of preamble, in the investigative range of 2-5m, the distribution form that makes up with the different distance different angles stands still.Because also only considered at most identification and location to three targets in algorithm, so there is not the situation of erroneous judgement.According to above-mentioned mode classification, the result of adopting data is added up equally, statistical result is as shown in table 7.
Table 7 is worn the correct localization situation of 30cm brick wall three target datas
Added up by the result that above various data to different target number, target different distributions situation are identified after localization process, filter back-projection algorithm is 94% to 17 groups of driftlessness discriminating data accuracy, be 81% to 48 groups of single goal data locking accuracy, being 78% to 60 groups of Bi-objective data locking accuracy, is 67% to 85 group of three target data correct localization.As seen, filter back-projection algorithm is the highest to the recognition correct rate of driftlessness data, and is minimum to the recognition correct rate of three targets.
On the whole, filtered back projection's algorithm for reconstructing can be applied to identification and the location to maximum three static human body targets.
Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improve and conversion all should belong to the protection domain of claims of the present invention.

Claims (8)

1. a multichannel is based on the radar life-detector of UWB, it is characterized in that, comprise UWB bioradar front end and computing unit, described UWB bioradar front end comprises a transmitting antenna, three reception antennas, pulse oscillator, electromagnetic pulse generator, Sampling Integral device, described transmitting antenna and each described reception antenna form a passage, form altogether three passages, described pulse oscillator produces pulse signal, and this signal triggers the electromagnetic pulse generator and produces burst pulse, and radiate by described transmitting antenna, reflected signal is delivered to the Sampling Integral device through each described reception antenna, the pulse signal that is produced by pulse oscillator produces range gate through delay circuit and range gate generator simultaneously, select to received signal, signal is by the Sampling Integral circuit, be detected through small-signal after accumulation, and amplify via amplifier and wave filter, filtering obtains three road radar echo signals, described three road radar echo signals are sent into computing unit after the sampling of high-speed a/d capture card, by computing unit, three road radar echo signals that collect are carried out analyzing and processing, the final two-dimensional position information of extracting a plurality of human body target life-informations and each target, described computing unit comprises the signal integration module, the signal decomposition reconstructed module, digital filtering module and numerical differentiation module, spatial-frequency analysis module and filtered back projection's locating module, described signal integration module is carried out integration to three road radar echo signals respectively on distance, described signal decomposition reconstructed module will be decomposed respectively through three road radar echo signals after integration, reconstruct, synthetic three road target echo signals and three road distance signals, described digital filtering and numerical differentiation module are carried out respectively digital filtering and numerical differentiation to three road target echo signals, described spatial-frequency analysis module is used for carrying out spatial-frequency analysis according to three road target echo signals after digital filtering and numerical differentiation and three road distance signals, obtain three projection signals of target, described filtered back projection locating module is used for determining the two-dimensional position information of target and forming the displayed map picture according to described three projection signals.
2. radar life-detector according to claim 1, is characterized in that, described transmitting antenna and one of them reception antenna close-packed arrays are placed in central authorities, and other two reception antennas are arranged at both sides, forms the structure of likeness in form dumbbell.
3. radar life-detector according to claim 1, it is characterized in that, also comprise projection signal's pretreatment module, be used for described three projection signals are gone intermediate value and normalized, signal after pretreatment is sent to described filtered back projection locating module.
4. radar life-detector according to claim 3, it is characterized in that, described filtered back projection locating module comprises one-dimensional Fourier transform module, one dimension weight factor module, one dimension inverse Fourier transform module, the direct back projection module that connects in turn; Described one-dimensional Fourier transform module is used for projection signal after the pretreatment of three passages is done one-dimensional Fourier transform; Described one dimension weight factor module is used for multiply by the one dimension weight factor to described through the projection signal after one-dimensional Fourier transform | ρ |; Described one dimension inverse Fourier transform module is used for multiply by the one dimension weight factor | ρ | after projection signal make inverse Fourier transform; Described direct back projection module is used for the projection signal through inverse Fourier transform is done direct back projection.
5. radar life-detector according to claim 4, is characterized in that, the one dimension weight factor | ρ | finally determine be shown below: g θ(t) be the projection signal after certain passage processing, F 1{ g θ(t) } be projection signal after one dimensional fourier transform.
According to claim 1 to 5 arbitrary described radar life-detector, it is characterized in that, also comprise the hangover cancellation module, be used for the displayed map that obtains through the described filtered back projection locating module location elimination that looks like to trail.
7. radar life-detector according to claim 6, it is characterized in that, described hangover cancellation module adopts the following methods elimination of trailing: the pixel value in the two dimensional surface of viewing area is pre-seted a threshold value, will paint background color lower than the pixel of described threshold value.
8. radar life-detector according to claim 6, is characterized in that, the display mode of described displayed map picture is the pseudo-color display mode of two dimensional surface, and while range of a signal and angle, realizes that multiobject location and result of detection show.
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